/****************************************************************************
* px4/sensors/test_dataman.c
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <debug.h>
#include <arch/board/board.h>
#include <drivers/drv_led.h>
#include <systemlib/systemlib.h>
#include <drivers/drv_hrt.h>
#include <semaphore.h>
#include "tests.h"
#include "dataman/dataman.h"
static sem_t *sems;
static int
task_main(int argc, char *argv[])
{
char buffer[DM_MAX_DATA_SIZE];
hrt_abstime wstart, wend, rstart, rend;
warnx("Starting dataman test task %s", argv[1]);
/* try to read an invalid item */
int my_id = atoi(argv[1]);
/* try to read an invalid item */
if (dm_read(DM_KEY_NUM_KEYS, 0, buffer, sizeof(buffer)) >= 0) {
warnx("%d read an invalid item failed", my_id);
goto fail;
}
/* try to read an invalid index */
if (dm_read(DM_KEY_SAFE_POINTS, DM_KEY_SAFE_POINTS_MAX, buffer, sizeof(buffer)) >= 0) {
warnx("%d read an invalid index failed", my_id);
goto fail;
}
srand(hrt_absolute_time() ^ my_id);
unsigned hit = 0, miss = 0;
wstart = hrt_absolute_time();
for (unsigned i = 0; i < NUM_MISSIONS_SUPPORTED; i++) {
memset(buffer, my_id, sizeof(buffer));
buffer[1] = i;
unsigned hash = i ^ my_id;
unsigned len = (hash & 63) + 2;
int ret = dm_write(DM_KEY_WAYPOINTS_OFFBOARD_1, hash, DM_PERSIST_IN_FLIGHT_RESET, buffer, len);
warnx("ret: %d", ret);
if (ret != len) {
warnx("%d write failed, index %d, length %d", my_id, hash, len);
goto fail;
}
usleep(rand() & ((64 * 1024) - 1));
}
rstart = hrt_absolute_time();
wend = rstart;
for (unsigned i = 0; i < NUM_MISSIONS_SUPPORTED; i++) {
unsigned hash = i ^ my_id;
unsigned len2, len = (hash & 63) + 2;
if ((len2 = dm_read(DM_KEY_WAYPOINTS_OFFBOARD_1, hash, buffer, sizeof(buffer))) < 2) {
warnx("%d read failed length test, index %d", my_id, hash);
goto fail;
}
if (buffer[0] == my_id) {
hit++;
if (len2 != len) {
warnx("%d read failed length test, index %d, wanted %d, got %d", my_id, hash, len, len2);
goto fail;
}
if (buffer[1] != i) {
warnx("%d data verification failed, index %d, wanted %d, got %d", my_id, hash, my_id, buffer[1]);
goto fail;
}
}
else
miss++;
}
rend = hrt_absolute_time();
warnx("Test %d pass, hit %d, miss %d, io time read %llums. write %llums.",
my_id, hit, miss, (rend - rstart) / NUM_MISSIONS_SUPPORTED / 1000, (wend - wstart) / NUM_MISSIONS_SUPPORTED / 1000);
sem_post(sems + my_id);
return 0;
fail:
warnx("Test %d fail, buffer %02x %02x %02x %02x %02x %02x",
my_id, buffer[0], buffer[1], buffer[2], buffer[3], buffer[4], buffer[5]);
sem_post(sems + my_id);
return -1;
}
int test_dataman(int argc, char *argv[])
{
int i, num_tasks = 4;
char buffer[DM_MAX_DATA_SIZE];
if (argc > 1)
num_tasks = atoi(argv[1]);
sems = (sem_t *)malloc(num_tasks * sizeof(sem_t));
warnx("Running %d tasks", num_tasks);
for (i = 0; i < num_tasks; i++) {
int task;
char a[16];
sprintf(a, "%d", i);
const char *av[2];
av[0] = a;
av[1] = 0;
sem_init(sems + i, 1, 0);
/* start the task */
if ((task = task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 2048, task_main, av)) <= 0) {
warn("task start failed");
}
}
for (i = 0; i < num_tasks; i++) {
sem_wait(sems + i);
sem_destroy(sems + i);
}
free(sems);
dm_restart(DM_INIT_REASON_IN_FLIGHT);
for (i = 0; i < NUM_MISSIONS_SUPPORTED; i++) {
if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD_1, i, buffer, sizeof(buffer)) != 0)
break;
}
if (i >= NUM_MISSIONS_SUPPORTED) {
warnx("Restart in-flight failed");
return -1;
}
dm_restart(DM_INIT_REASON_POWER_ON);
for (i = 0; i < NUM_MISSIONS_SUPPORTED; i++) {
if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD_1, i, buffer, sizeof(buffer)) != 0) {
warnx("Restart power-on failed");
return -1;
}
}
return 0;
}
